CN201711965U

CN201711965U - Portable multi-degree of freedom mini-explosive disposal intelligent mobile robot system

Info

Publication number: CN201711965U
Application number: CN2010202268657U
Authority: CN
Inventors: 蒋金鹏; 周勇; 邱平平; 卢秋红; 付西光
Original assignee: SHANGHAI ZHONGWEI INTELLIGENT ROBOT CO Ltd
Current assignee: SHANGHAI ZHONGWEI INTELLIGENT ROBOT CO Ltd
Priority date: 2010-06-13
Filing date: 2010-06-13
Publication date: 2011-01-19
Anticipated expiration: 2020-06-13

Abstract

The utility model relates to a portable multi-degree of freedom mini-explosive disposal intelligent mobile robot system which comprises a control unit module, a mobile platform module, an energy module, a mechanical arm module, an image sensor module, a remote control module and the like. Independent function modules are connected with one another by adopting standard interfaces including mechanical connection and electrical connection. Each interface includes a power supply and a communication bus, and the modules connected with one another by adopting the standard interfaces share the power supply and communicate through standard buses without any external wiring. The system has light weight and is convenient to carry; and by adopting the mechanical arm with multiple degrees of freedom for disposing explosives, a robot can autonomously operate and conduct remote video control, and the system can realize all-weather and all-terrain operation, and be applied in practical fields.

Description

The portable multiple freedom small-sized explosive process intelligent mobile robot system

Technical field

The utility model relates to a kind of multi-freedom intelligent mobile robot platform, particularly discloses a kind of portable multiple freedom small-sized explosive process intelligent mobile robot system, belongs to the Robotics field.

Background technology

Explosive-removal robot is mainly used in and replaces manually, directly scout, get rid of and handle explosive in the spot, and other dangerous material, also can implement effective attack to some armed terrorists and offender, be requisite important equipment in the anti-terrorism professional contingent.Along with the development of remote control and local autonomous mobile technology, be used for anti-terrorism scouting and explosive ground mobile robot and begin to be applied.Ground mobile robot mainly contains crawler type, wheeled and both several modes such as combination.

Terrorist action in recent years is day by day rampant, and various countries have given greatly to pay attention to and more input to the explosion-proof technology and equipment of research and development anti-terrorism in order to maintain social stability and political demand.Especially since " 911 ", various countries have more strengthened the development work to anti-terror explosive removing robot.Wherein, Israel, the U.S., Britain, France, Japan and other countries maintain the leading position.Britain just successfully develops explosive-removal robot as far back as the sixties, and AB Precision Limited (ABP) aims at U.K. Ministry of Defence's production and supply EOD explosive and separates dismantling device.The explosive-removal robot of its production has Cyc1ops, Bison ^TM, Groundhog ^TM, model such as Lynx.U.S. REMOTEC company is the subsidiary of Northrop Grumman, use the explosive-removal robot manufacturer as traditional police, the explosion prevention robot that REMOTEC produces comprises: Andros F6-A, Wheelbarrow MK8 Plus II, Wheelbarrow Super M, Andros Wolverine, Andros Mini II, Andros V-A1, Swordfish and Marlincutting systems etc.U.S. iRobot company also produces the robot that explosive is handled, and represents model to be: Packbot-EOD.

With abroad compare, the explosive-removal robot of China is started late.The intelligent anti-terrorism explosion prevention robot of the first generation of 2004 annual proper motions developments " No. one, anti-terrorism " can be climbed angle less than 35 ° slope and stair, can freely get into the cave, the 0.4 meter high roadblock that can jump also can be equipped various weapons such as explosive substance destroy machine, running fire Shotgun and tear bombnoun according to instructions for use and finish corresponding function.Guangzhou Co., Ltd of Wei Fu robot is its industrialization, the explosive-removal robot that Wei Fu produces have PXJ-I (spy), PXJ-II (greatly) and PXJ-III (in) three kinds of models.Beijing auspicious outstanding great achievement technological development Co., Ltd mainly produces Dragon IV type EOD explosive-removal robot and RT3-EOD small-size multifunction safety check explosive-removal robot.Capital Jinwu mainly produces JW9 series explosive-removal robot.

Document " trailer type explosion-proof vent manipulator " (number of patent application: 03115111.6) described a kind of trailer type explosion-proof vent manipulator, by the distant operation of operator, suspicious object is transferred to outside explosion-proof vent in the explosion-proof vent automatically, in explosion-proof vent, transferred to outside the explosion-proof vent again when needing.Document " a kind of flexible explosive arm of explosive-removal robot " (number of patent application: 200420077979.4) described a kind of explosive-removal robot arm.Document " robot for eliminating exploding and danger " (number of patent application: 200710175389.3) described a kind of small-sized robot for eliminating exploding and danger of band cloud platform video camera.

By the analysis showed that, mostly existing product is big-and-middle-sized robot for eliminating exploding and danger, the Mission Capability height, but volume is big, weight is big, the part of advancing of the especially big-and-middle-sized ground mobile robot wheel-leg combined types that adopt more, and the rear portion has enough big counterweight, cause structure huge and complicated, the overweight stability of robot when crossing stair that is unfavorable in rear portion.The robot research that relevant small-sized explosive is handled is less, and the Packbot-EOD stable performance of iRobot belongs to most advanced and sophisticated explosive-removal robot product.Domestic existing product landform adaptive capacity is relatively poor, the work capacity deficiency, and operation is reliable inadequately, also is in the laboratory research stage, the practicality deficiency.

Summary of the invention

The purpose of this utility model is to address the deficiencies of the prior art, and discloses a kind of portable multiple freedom small-sized explosive process intelligent mobile robot system.The utility model is in light weight, and is easy to carry; Have 8 frees degree and get rid of the mechanical arm of explosives, be connected by Ethernet or CAN bus between mechanical arm module node and master controller; Robot one has 12 frees degree, but autonomous operation and long-distance video control; Can be round-the-clock, full landform operation, operation intuitive and reliable, simple to operation, can be applied to field under battle conditions.

The utility model is achieved in that a kind of portable multiple freedom small-sized explosive process intelligent mobile robot system, comprise control module module, mobile platform module, energy module, mechanical arm module, image sensor module and remote control module, it is characterized in that: adopt the interface of standard to interconnect between the standalone feature module, standard interface has comprised mechanical connection and has been electrically connected.Interface has comprised power supply and communication bus, adopts between the module that standard interface connects common source and by STD bus communication, without any need for aerial lug.

Described mechanical arm module adopts standard interface to be connected with robot body, all is inner cabling, mechanically adopts the turbine and worm transmission, and the joint can comprehensively be rotated.Adopt the worm and gear kind of drive, adopt that density is low, the aluminium alloy of high specific strength and modulus makes.Mechanical arm can stretch and shrink easily, and a plurality of frees degree and bigger extending range have guaranteed the flexibility of operation.The joint of each mechanical arm is by an independent CPU control, and each joint links to each other with the main control module as a standard control node, passes through Ethernet or the CAN bus and the mechanical arm module communication of standard each other.

Described control module module adopts Embedded computer as master controller, is connected by the CAN bus between each CPU of control module and each CPU of mechanical arm; It all is to be undertaken by STD bus that co-ordination between the control module CPU, control module are given its attitude of feedback of control module to the control of mechanical arm module and mechanical arm module, adopts the standard CAN protocol communication between all CPU.

Machinery that described mobile platform module is robot fortune merit carrier, comprise robot frame, about two pedrail mechanisms, about two overturn arm mechanism, about two track driving mechanism and about two flip-arm driving mechanisms.Described robot frame comprises chassis, support and the cavity of robot; Pedrail mechanism comprises a crawler belt, a driving wheel, a driven pulley and several auxiliary wheels; Track driving mechanism comprises direct current generator, motor encoder, motor driver, gear drive and bearing; Overturn arm mechanism comprises a crawler belt, a driving wheel and a driven pulley; Flip-arm drives and transmission mechanism comprises upset motor, motor encoder, motor driver, gear drive and bearing.Described motor driver is controlled rotating speed of motor with the PWM mode, and each motor has an encoder, and open loop and closed loop dual mode are adopted in the motion control of robot, and closed loop comprises speed ring, position ring and electric current loop.

Described energy module comprises chargeable cell system and electric power management circuit, and for robot provides the energy, this robot can adorn 1 to 4 battery.Robot can be battery-powered, also can be powered by external direct current power supply, and electric power management circuit can be realized the function that external direct current power supply and battery switch mutually.

Above-mentioned mobile platform module, control module module and energy module constitute robot body.

Described image sensor module comprises a video camera with pitching and two frees degree of swing that is arranged on the arm top, a robot camera that is arranged on mechanical arm module and robot body joint, two video cameras replenish mutually, control use for remote image.The video camera that is installed on the body has one degree of freedom, can pitching swing, and residing position can be judged from the ambient image of seeing by robot, the operative goals of scenery, and searching on every side.The video camera that is installed in the mechanical arm top has rotation and two frees degree of pitching swing, can accurately collect the information of target, makes robot manipulating task directly perceived, simple to operation.

Described remote control module is made up of remote computer, wireless communication module, a remote controller.The ICP/IP protocol of standard is adopted in wireless telecommunications between remote control module and the robot master controller.When adopting remote control mode, the operator sends control command by the keyboard of remote controller or remote computer, sends master controller to by wireless network, is controlled motion and other operations of robot by master controller.The information such as video that robot obtains send remote computer by master controller to by wireless network.The operator can see the residing environment of robot in real time, obtains the status information of robot, thus accurate manipulation robot.

The beneficial effects of the utility model are:

1, each standalone feature module of the utility model robot system adopts the mechanical interface of standard to interconnect, and forms whole robot system.Functional module can be matched, be replaced, so that finish specific function.Modular structural design makes things convenient for the installation of intermodule, can be according to requirements of different users mounter people platform rapidly, reduced the cost of the design, expansion of robot system, integrated, installation, maintenance, update.

2, each joint of each external sensor assembly of the utility model robot system and manipulator is all by independent CPU control.Be connected by Ethernet or CAN bus between each node and between master controller and the node, connecting interface has identical feature with bus communication protocol.The priority of module can preestablish and revise as required.The feature reduction of standard electronic module interface the ROBOT CONTROL design, for reality use in the accessory expansion of robot convenience is provided.

3, the utility model robot system can adopt from main control and Long-distance Control dual mode, and the wireless video remote control system can guarantee the intuitive and the convenience of operation.

4, the utility model robot system has 12 frees degree altogether, has guaranteed the flexibility of robot manipulating task.

5, the utility model robot system is towards the actual combat field, and in light weight, speed is fast, and load capacity is strong, can round-the-clock, full landform operation.

The utility model is described in further detail below in conjunction with accompanying drawing.

Description of drawings

Fig. 1 is the utility model robot system architecture sketch;

Fig. 2 is the utility model remote control unit structure diagram;

Fig. 3 is the utility model mobile platform structure diagram;

Fig. 4 is the utility model pedrail mechanism structure diagram;

Fig. 5 is the utility model overturn arm mechanism structure diagram;

Fig. 6 is the utility model mechanical arm structure diagram;

Fig. 7 is the utility model CAN bus control circuit schematic diagram.

The specific embodiment

With reference to the accompanying drawings 1,2, a kind of portable multiple freedom small-sized explosive process intelligent mobile robot system comprises that mobile platform module 10, body image sensor module 20, control module module 30, mechanical arm module 40, arm image sensor module 50, remote control unit 60 form.

Remote control unit 60 is independent control module pieces, by a computer, and a wireless communication module, antenna, support and control cabinet are formed.Remote control unit and robot wireless telecommunications, the position, action message that are installed in information that the sensors such as image in the robot obtain and robot by wireless network transmissions to remote control unit, motion and operation that the operator can remote control robot.

With reference to the accompanying drawings 3, mobile platform 10 comprises robot frame 11, power-supply system 12, left pedrail mechanism 14L, the 14R of right-hand track chiain mechanism, left flip-arm 13L, right flip-arm 13R, a left side drives and transmission mechanism 15L, right drive and transmission mechanism 15R, flip-arm drive and transmission mechanism 16 etc.

With reference to the accompanying drawings 4, left and right

sides pedrail mechanism

14L and 14R comprise 141, one driving wheels of a crawler belt 142, driven

pulley

143 and 12 auxiliary wheels 144 respectively.Driving mechanism comprises DC servo motor, motor encoder, motor driver.Transmission mechanism comprises gear, bearing etc.Driver receives instruction from control module and comes drive motors, arrives driving wheel via transmission mechanism, drives whole caterpillar drive by driving wheel again, thus driven machine people walking.Motor driver is controlled rotating speed of motor with the PWM mode, the rotation direction of the signal control motor that sends according to the control module module.Each motor has the incremental encoder of one 500 line, and collection position information realizes robot motion's closed-loop control.Open loop and closed loop dual mode are adopted in the motion control of robot, and closed loop comprises speed ring, position ring and electric current loop.

With reference to the accompanying drawings 5, left and right sides overturn

arm mechanism

13L and 13R comprise a crawler belt 131, a driving wheel 132 and a driven pulley 133 respectively.Two overturn arm mechanism have that a flip-arm drives and

transmission mechanism

16,16 is made up of overturn motor, motor encoder, motor driver, gear drive and bearing.The signal that sends from the control module module drives the rotation of upset motor, drives the rotation of flip-arm driving wheel again, thereby whole flip-arm is rotated around drive sprocket axle.Flip-arm plays a supportive role in actions such as robot stair climbing, upset, is the vitals that makes the all-terrain adaptable operation of robot.

With reference to the accompanying drawings 6, body image sensor module 20 is mounted in a video camera on the robot moving platform module, has one degree of freedom, but the pitching swing, and its effect is the ambient image of gathering robot the place ahead, information is provided for the motion of robot.

Mechanical arm 40 has 8 frees degree, adopts the turbine and worm kind of drive, and material is an aluminium alloy.The full spread length of mechanical arm reaches 1.8m, can grasp the load of 3kg during maximum extension, and a plurality of frees degree and bigger extending range have guaranteed the flexibility of operation.The joint of each manipulator is by an independent controller control, each joint links to each other with the main control module as a standard nodes, adopt the communication of CAN bus mode, guaranteed the reliability of operation, even there is certain node failure also can not influence the action of other nodes.

An arm image sensor module 50 is installed on the mechanical arm 40, is had two frees degree, can pitching swing and rotation,, make operation directly perceived, simple to operation so that collect the information of target.

Mechanical arm 40 is by shoulder joint 41, elbow joint 42, and elbow joint 43, wrist joint 44, paw 45, The Cloud Terrace 46, big arm 47, forearm 48, forearm 49 are formed.Mechanical arm one has 8 frees degree: there are two frees degree at shoulder joint 41 places, and the free degree 1 is the motion that horizontally rotates with respect to mounting base, and the free degree 2 is the swing of big arm 47.There is one degree of freedom 3 at elbow joint 42 places, are the swing of forearm 47.Elbow joint 43 places are forearm 49 swings by one degree of freedom 4.Wrist joint 44 has one degree of freedom 5, is the rotation of paw 45.Paw 45 has one degree of freedom 6, is the folding of paw.There are two frees degree at The Cloud Terrace 46 places, and the free degree 7 is the pitching swing of video camera 50, and the free degree 8 is the rotation of video camera 50.The free degree 9 among Fig. 3 is the oscillating motion of the video camera installed on the robot body.Robot body also has three degree of freedom, so the explosive-removal robot system always has 12 frees degree.

Control module module 30 adopts Embedded computer A RM7 as master controller, and integrated Embedded operating system makes robot realize autonomous walking by programming, independent navigation, and sensor information is handled, functions such as stretching hand with arm, extracting.The control module module is by the CAN bus and the arm module communication of standard.With reference to the accompanying drawings 7, control module module 30 is shared three CPU, master cpu 31, motion control CPU 32, communication CPU 33.Master cpu 31 responsible whole mission planning, decision making algorithm, peripheral sensor and other device controls and management, power management etc.Motion control CPU 32 is responsible for the moving of robots, the action of flip-arm, the action of mechanical arm etc.The communication that communication CPU 33 is responsible between all CAN nodes.Six joints of mechanical arm 40: shoulder joint 41, elbow joint 42, elbow joint 43, wrist joint 44, paw 45, The Cloud Terrace 46 are controlled by a CPU respectively.With three CPU of control module module, connect by the CAN bus between six CPU of mechanical arm, the communications loop end is connected to terminal resistance RL, with inhibitory reflex.All CPU adopt the standard CAN protocol communication each other: the co-ordination between the control module CPU, control module be to the control of mechanical arm module, and the mechanical arm module to give its attitude of feedback of control module all be to be undertaken by the CAN bus.The benefit of control mode is like this: control algolithm is easy, and software upgrading is easy; The expansion of mechanical arm module joint is convenient, can increase and decrease the joint number as required; The fault in certain joint can not have influence on the work in other joints; Adopt non-destructive bus arbitration technology, the priority of each CAN node joint module can be set and adjust at any time; The CAN interface of standard also can extension sensor and other performers, makes the function expansion of robot very easy.

The robot system weight that present embodiment is built into is less than 30kg, speed 2m/s, arm exhibition 1.8m, maximum elongation load 3kg can climb 40 ° of stair, can round-the-clock, full landform move, but the individual soldier bears, and is the reliable portable explosive handling machine people platform towards the actual combat field.

Claims

1. portable multiple freedom small-sized explosive process intelligent mobile robot system, comprise control module module, mobile platform module, energy module, mechanical arm module, image sensor module and remote control module, it is characterized in that: adopt the interface of standard to interconnect between the standalone feature module, standard interface has comprised mechanical connection and has been electrically connected; Interface has comprised power supply and communication bus, adopts between the module that standard interface connects common source and by STD bus communication.

2. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 1 system, it is characterized in that: described mechanical arm module adopts standard interface to be connected with robot body, it all is inner cabling, mechanically adopt the turbine and worm transmission, the joint can comprehensively be rotated, all by independent CPU control, each joint CPU and master controller adopt STD bus to intercom mutually each other in each joint.

3. according to claim 1 and 2 described portable multiple freedom small-sized explosive process intelligent mobile robot systems, it is characterized in that: described control module module adopts Embedded computer as master controller, is connected by the CAN bus between each CPU of control module and each CPU of mechanical arm; It all is to be undertaken by STD bus that co-ordination between the control module CPU, control module are given its attitude of feedback of control module to the control of mechanical arm module and mechanical arm module, adopts the standard CAN protocol communication between all CPU.

4. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 1 system, it is characterized in that: machinery that described mobile platform module is robot fortune merit carrier, comprise robot frame, about two pedrail mechanisms, about two overturn arm mechanism, about two track driving mechanism and about two flip-arm driving mechanisms.

5. portable multiple freedom small-sized explosive process intelligent mobile robot according to claim 1 system, it is characterized in that: described image sensor module comprises a video camera with pitching and two frees degree of swing that is arranged on the arm top, a robot camera that is arranged on mechanical arm module and robot body joint, two video cameras replenish mutually, control use for remote image.